Difference between revisions of "Category:HamsterProKit/RosExample"
| Line 6: | Line 6: | ||
<code><span style="color:black"></span>roslaunch hamster_launch prokit_slam_2d.launch</code> | <code><span style="color:black"></span>roslaunch hamster_launch prokit_slam_2d.launch</code> | ||
| − | To visualize output | + | To visualize output run <code>rviz</code> and output topics: |
'''''/map''''' - 2D map | '''''/map''''' - 2D map | ||
Revision as of 17:40, 12 January 2020
ROS1 examples
1. For launch SLAM example:
roslaunch hamster_launch prokit_slam_2d.launch
To visualize output run rviz and output topics:
/map - 2D map
/agent<your_agent_number>/scan - 2D scan
/agent<your_agent_number>/camera/depth/color/points - point cloud
Example image below
2. For launch wandering example:
roslaunch hamster_launch prokit_wandering.launch
Wandering with obstacle avoidance will start automatically.
3. For launch detection example:
roslaunch hamster_launch prokit_detection.launch
To see picture with detection use standard ros plugin:
rqt_image_view
/agent<your_agent_number>/openvino_toolkit/images - topic to see detection
To control robot drive/steering use /agent*/ackermann_cmd topic.
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